Acoustic logs



,9os,sas

u p ACOUSTIC Loos Kirkland, Belmont, Mass., assignor to `Raytheon `Company, a corporationof Delaware f f Application March 16, 1956, serial N6; 572,036

`4 Claims., (C1. S40-.3)

',Ihisgis,acontinuation-in-part of 'a correspondingfapplication, Serial No, 458,839, tiled September 28, `1954, and now abandoned. l v ,Y 'r

jl'fyfhislcinvention relates to a velocity-determining ap-4 paratus, and more particularly, toen acoustic log sys.- tenir` `vvherebyzthe difference or Doppler` frequency Ubetweenfthe transmitted and receivedenergy waves may bedetermined.Y l, y Y .z Thisinventiondiscloses `a .particular system whereby 4'tfrzyu'ismitted and received frequencies may be accurately compared to determine the frequencyV difference. It is known vthat the velocity of. aV ship traveling through kthe water maybe determined b y transmitting sonic frequency' energy from the ship through the Waterin a direc- 'tion parallel to the direction of the motion of the ship, and receiving sonic frequenciesA which are reflected back from discontinuities inthe Water,A such yas air bubbles,

n Safes Parenti@ l -lt can be `shown that the following relationships must exist for the frequency in the medium to be kept constant:

i wea u Fd=ffft (3) Azcomparisonrof Equations 1 and 2 shows that, if the Y frequency ofthe medium is maintained constant, the

received `frequency will be higherA than the mediumfrel quency by exactly the .same amount that the transmitted frequency 'is'lower from the medium frequency. vFurther objects and advantages of this invention will be apparent as the description progresses, reference being v vention in the form of va complete self-balancing acoustic impurities, tand surface conditions, and comparing the frequency of the received energy with the frequency of the` transmitted energy. `The difference frequency,'some times 'called the Doppler frequency, will vvarywith the velocityof the ship and, therefore, the velocity of the ship may be measured in terms of thisl frequency' It is the purpose of the system Vto accuratelyl determine and measurel the difference frequency. and to -use thejdifference frequency, which isY a measure ofyshiplspeed, to change'the transmitted frequency, thereby creepingf a self-balancing closed loop servo system. 4 l, .Y v j The formula `for Dopplerfrequenciest when v,worked out" forV a constant radiated frequency system ,and alsov for ai'cdnstant received frequency system `shows thatv thei'eis a nonlinearity between'the ships speed indicatin g signal and the actual shipspeed. This nonLlinearity,

is caused by the fact that the aforementioned systems, the frequency in the medium in ajc'omplex manner with'thef'sped ofthe shipr in the medium. In V'accordance with thepres'ent'invention it has been determined that, ifthe-frequency` in the water is kept constant, `the,problem of-'compensating `for a non-linear chang'eis ,si ,pvliedf `The objectv Of this invention,` therefore, v isfft'o lep the. frequency in the mediumconstant. rIfhis is` possible"V since-a` transducer moving through the waterhas three frequencies which canbe identified, 'ft which is supplied to the transducer fortransmission, fw which isthe frequency observed bythe transducer which has'no'motion relative to the water,-,hereinafter calledthe medium frequency, andfr'which themo'ving transducer receives. On transmission, the wavelength .in the water is' shortened because the :samenlnnber of cycles whichwould occupy clfleet of length at zero speed now occupy c--v feet at v feetper second speed where c is the velocityof sound in water and v is thevelocity of theship. The wavelength isgthereforefshortenedlto the fractional Value made to the accompanying drawing wherein the single figure is a block diagram of the embodiment of theinventi'on. "Referring now to'the'drawing, there is shown a blockl diagramillustrating an. embodiment of the inlog. A dual head section 1 containing a transmitting .transducer 2 and a receiving transducer '3 is located in the bow'of the ship in such a manner that the transmitting transducer Z willfocus a beam of sound at a point approximately 10 feet ahead of the ship. The receiving transducer 3 having the same focus as the transmitting transducer v2 willv pick up the Vreceived signal from.V this point ioffocus. Both the transmitting transducer 2 and the` receiving transducer 3 are located in the water. i

By assuming a speed of sound in water of 4730 feet per `second and by transmitting a sound beam that will vary in frequency with the ships speed, it has been determinedthat'by using'a carrier frequency of V700 kilocycles, it is' necessary to lower the transmitted signal frequency 250 cycles from the carrier 0f 700 kilocyclesv for each knot ofshipsspeed. The actual fraction that the .transmitting frequency is changed is called and depends'on the shiprsspeed and the velocity of sound Vin water, It is deiinedfb'y vthe following mathematical explanation i I u V V v t, I. (74)' WhereM-f A Y 'Y y f is1 the ,frequency-changing ratio fromno Doppler to full Doppler;` K F t, v` is -"the velocity ofthe ship in watcr;.and c Lis the velocity of sound inthe water. ltcan lne-seen. that a varying fractional change that depends .on the ships speed. A component of the ship speed frequency, signal is fed into reactance modulator therezwilllbe propagated in the water a frequency of i-llwhich',A in turn, is connected -to .transmitter 5 for the purpose of -yarying the transmitted frequency from the carrier frequencycfJOO kilocycles to 700 kc. "(l-). Since transmitter 5 drives the transmitting transducer 2,

700 kc. vThe 4receiving transducer 3, which is also located in ythewater,receives .the frequencies that are reflected from the transmitted energy that is emittedby the transmitting"transducer 2.

' The output lof receiving 'transducer 3 is fed*V directly into Va superheterodyne'receiver 6 having-V a ntiXer-t',

local'osici1lator"8-I.F; strip 9, anda mixerl.' The received `freqenc'y as shown by Equation' V2l will l. be, in-` creased: by .thesame arnouurthat thev traasmiite'dffrequ; qency is 'loweredfwhichfmeans' that the received'fr@V` r quency will be of the magnitude 700 kc. (l-l-). In order for the superheterodyne receiver 6 to track these increasing frequencies, a reactance modulator 11 1s used -tochange the frequency offthelocaloscillator 8,thereb-y, insuring affixed frequency in the LF. strip 9. Therevactance modulator 11 is fed by the same component of ships speed signal tha'tis used todrive reactance modulator 4 that is used to lower .the transmitted frequency. It is obvious,therefore, that a change in ships speed signal used to drive both reactance modulators 4 and Il will result in a lowered transmittedY frequency and a raising of the local oscillator 4frequency by the vsame amount. Withthis 'system it is .possibleto obtain ahighydegieefof :selectivity .from the superheterodyne 1 receiver '6 "andjal'so simplify the tracking problem.

The output of superheterodyne receiver f6 is fed-directly into a lter 12 for filtering out the high frequency variations, and then into mixer 13 and discriminator 13A. Since *theel-.PX strip 9 has 'a verynarrow'bandwidth of-the order of -1'25 cycles, it is necessary to provide` an 'additional correction to the Vship/s speed'frequeney signal for -controlling both the transmitted frequency and `:the received frequency. This `correction voltage A"needed since the reactance modulator may fail -to achieve 'the requiredy `accuracy to keep the signal within its'p'ass band from the ships speed 'signal alone. A feedback 'path "is provided to correct such errors. It is 'thepurp'ose of discriminator 13A to supply this correction` voltageto reactance modulators 4 and 11 for the purpose of'keeping the received frequency signal with'in the n'arr'w band pass of'theLF. Ystrip. l Y

The output of filter 12 is mixed with a coi-riponent of'thetransmitted frequency in mixer '13. It is the vpurpose of mixer 13 to obtain the difference between ,the received frequency and the transmitted freque'ncy and feed it into filter V14. VSince the received frequency is kc. (I4-6) and the transmitted frequency is `7,00 fkc. (1 6), then it is obvious that the mixer qwill de liver a frequency of 14005 kc. to lter 14. .Filter .14 is a low pass lilter for keeping out frequencies higher [than V14005 kc. It is estimated 'that at a 'speed of approximately 40 knots, 14006 kc. Vwill be approximately 20 kilocyeles so vthat filter 14 will have a `pass rangeofabout 200 cycles to 20 kilocycles. s

r'The output of lter 14 is fed into a frequency meter 15 that will deliver a voltage that is vproportional ktothe input frequency and also to a rectifier 16.. `Connectedto the output of rectifier 16 is a relay 17 that will operate transfer arms 18 and 19. Under normal conditions, the

superheterodyne receiver "6 will amplify the received signal, which in turn will energize relay 17thereby causing operating arms 18 and 19 to transfer from positions 20 and 21 to positions 22 and 23. The outputof frequency meter 15 is Vfed into a servo-'amplifierZA which in turn drives a reversible servo-motor '2"5. .'MotorfZS is mechanically coupled to 'and drives .gear train A26 Yby means of gear 27. Motor 25 drives the gear train 26ftoaposition depending on the magnitude of the 'volt age output of frequency meter 15. When this cond' A'on is reached, geartrain 26 will indicate the ships speed. In order to provide a-system that is automatic 'in that the gear train 26 will stop at the correct indicated4 ships speed, `a gear 28 s mechanically coupled to gear 'train 26 and the output of this gear iskused to 'drive'aipotentiometer 29. Therefore, as the gear train'26 sperfated by motor 25, the operating arm 30 'of potentiometer will`be -moved to a different position, 'thefr`eby producing a different voltage across the operating arm'30.` l This voltage is fed back to servo-amplifier 24 uaridis balanced against fthe voutput voltage of the frequency meter .15.'

Theaction'of-the motor 25 is'to drive the.geartrfzzingZ` until the .voltage fed'backfrom.potentiometer129lisieexf aetlyequak and 'opposite to the voltage output of= the efrea quency Ineter at which I point ,-thegrnotor. .will stop.. :It

i is obvious, therefore, that the system rwill be a .selfbalancing servo-loop. Y

As 'mentioned previously, both reactance modulators 4 and 11 obtain their correcting voltage from the ships speed indicating signal, which is represented by the voltage across the potentiometer operating arm 30. Under normal operating conditions with the superheterodyne receiver 6 puttingfout a .strongsignal and the rectifier 16 energizing relay 17, the feedba'c'krpathvof the ships speed frequency signal will be 'from operating'arrn -30 to position23 through operating varm 19 to y:position 22, through operating arm 18 tocapacitor 3.1 andblthen to reactance modulators 4 and'1'1 and resistance 31A where it is combined with 'the AVoltage from discriminator 13. If for any reason the system should lose the received signal causing the local oscillator 8 to lose the prevailing ships speed frequency signal, a 1.5-cycle search frequencyiszinserted for'brin'ging both the transmitted and received Efrequency `signals backin line. This is 'accomplished by having a 1.5-cycle source lfeeding fa "sweep generator32'consisting of a transformer A33. The output of ,f-the fsweep `.generator 32 is fed to reactance modulator's 4and 11fby wire 34 through current limiting resistor 351m the same point that the ships speed frequeney signal is fed back to. The other output -of'transfo'r'rrier '33 Vgoes by .wire 36 to operating arm 19. Therefore, if the received frequency signal yis lost, there will'be no out'- put signal Vfrom the superheterodyne receiver v6, 'which means lthat relay 17 will not be Voperated but will 'remain in fits non-operating position which is the in'dcated position in the Aaccompanying drawing. ,Irn this condition the 1,5-cycle A.C. voltage from `transformer 33 will sweep both reactance modulators `4 and'11. Thus the frequeneyfof both ytransmitter andk receiver will be swept back an'd forth over ythe range of Doppler 'frequencies 'at a 11.5-cy'cle rate. -For the sweep or searching operation, operating arm 19 will transfer from position 23, which allows the lships speed frequency signal to pass to position 21 lthat supplies a voltage 4determined by resistor '137. Since Vthe Vships speed signal will lbein error'iif lthe-received signal is lost, a voltage is 'chosen by'r'esistor 37'that will place the sweep frequeuSJY midway between the indicating extremes of the log system. This proceduretwill -allow for a quick return from Vsweep l'to lock-in condition. .i 'K

The search operation will continue until the. superheterodyne receiver 6 is energized. lAs soon as this occurst'he discriminator will be'energ'ized, thereby ,puttingout a voltage in opposition `to thesweep which will limit further changes of the frequency to within the limits of f'the pass 'band of the LF. stripr9. The discriminator will put outa DC. component suitable to charge capaci'- tor 31 and lalso to make the correctionfor the difference in shift desired and that called-for bythe inserted Search plus DLCQcomponen't Vfrom position'Zl'. Energization o f Vthe supheterodyne -receiver 6 will .also causegrectifier 16 VVt6 energize-relay 17, thereby'tran'sfer'ring operating arms 1 8and 19 from positions 20 and 21 to positions '22 and Thisrvfact'will yremove the search sweep ff'oi' locked Yin-conditions and also Vshort out the outputof transformer33 through voperating arm 18 and position 2,2 of relay 17,. The circulating current of transformer 3 3 islimited to a safe value by current limiting resistor 3:5. During this transfer from sweep to lockin c`oi1di-V tons,capacitor 31 and will holdthe proper bias' tion. Operating arm 19 'in transferring ftd/position 23' thereby allows the ships speed frequency signal to again control reactance modulatolrs and 11.

It is well known that the speed of sound in water vat S purposes, the pressure. The general formula for the speed of sound and water is as follows: i l

Y -#4626+13.8(r`)'-o.12r2+3.73s V@(11)I Wherel i l l i vfis th velocity ofthe sound in water feet per second;

water measured per pending on salinitylf These'fil'gures show that an 11% changein the speed of sound in Water would be possible if traveling from the Red Sea to a fresh water lake in the Antarctic. In order to compensate for the change in temperature of the Water, a temperature sensitive resistance network 38 is immersed in the water having its output connected across the terminals of potentiometer 29. Therefore, as the temperature of the Water changes, the resistance of the temperature sensitive resistance member changes, thereby causing a change in the voltage across potentiometer 29. This results in different feedback voltage to appear across the operating arm 30, thereby changing the feedbackl voltage servoamplifier 24. This new feedback voltage lbeing balanced against the output voltage of the frequency meter 15 will cause motor 25 to drive the gear train 26 to a new indicating position dependent on this temperature change.

The salinity factor is not made automatic, since it is not expected to vary as rapidly as that due to temperature. A potentiometer 39 is placed in series with the parallel combination of potentiometer 29 and the temperature sensitive resistance network 38. It is only necessary therefore in any fixed body of water to determine from the chart the salinity content and then manually set this reading on the manual salinity control potentiometer 39. One end of the salinity potentiometer 39 is connected to a B+ voltage and the other to the parallel combination of potentiometer 29 andthe temperature sensitive network 38.

To vary the transmitted frequency over the entire Doppler range of 690 to 700 kilocycles will require a frequency variation of only 1.4% which can easily be made linear. A higher carrier frequency may be used since the log system is independent of the specific carrier frequency used.

In order to indicate speed, a speed counter 40 is mechanically coupled by gear 41 to gear train 26. For remote speed output orders, a Selsyn generator 42 is mechanically coupled to gear train 26 by means of gear To indicate distance, a second servo-amplifier 44 is connected to the operating arm 30 of potentiometer 29. This voltage at potentiometer 29 is a voltage that represents the ships speed. The output of servo-amplifier 44 drives motor 45 which, in turn, is mechanically coupled to gear train 46 by means of gear 47. A tachometer generator 48 is mechanically coupled to gear train 46 by means of gear 49. The output of said tachometer generator 48 is fed back to servo-amplifier 44 where it is used to maintain the speed` of motor 45 as determined by the ships speed voltage obtained from potentiometer 29. A distance counter S0 is mechanically coupled to gear S1 which, in turn, is coupled to gear train 46. In order to obtain distanceoutput orders, a Selsyn generator 52 is also mechanically coupled to gear train 46 through gear 53. It will be observed that gear train 46 will be continuously turning at a rate depending on the ships speed.

This completesthe description of the embodiment of the invention illustrated. herein. Howevenuniany modi.- iicatio'ns and advantages thereof will be apparent t persons skilled in the art without departing from the spirit and scope of thisV invention. Accordingly, it isdesired thatthis invention nt be limited to the particular details of the embodiment disclosed herein except as deiined by the appended claims.

What is claimed is:v a L a l l.v A velocity determining system comprising a transmitter fortransmitting wave energy into` a medium, a variable oscillator coupled to said transmitter, ajrst frequency control coupled to said oscillator for controlling the frequency thereof, means Vfor receiving reflections of transmittedv wave' energy, a receiver having a local osillatr,said receiving means being coupled to said receiver; af"second frequency control coupled' to said local oscillator for'tcontrolling the frequency thereof, comparator means coupled to said variable oscillator and said receiver for comparing the frequency of said oscillator with received signals to derive a control voltage, apparatus coupled to said comparator means and said rst frequency control and responsive to said control signal to adjust the frequency of said variable oscillator to cause the frequency of transmitted wave energy in said medium to' be constant, a speed indicator coupled to said apparatus, a sweep generator, and switch means actuated upon loss of received signals for coupling said sweep generator to said rst and second frequency controls.

2. A velocity determining system comprising a transmitter for transmitting wave energy into a medium, a Variable oscillator coupled to said transmitter, a rst reactance modulator coupled to said variable oscillator for controlling its frequency, means for receiving reflections of transmitted Wave energy, a superheterodyne receiver coupled to said receiving means, a second reactance modulator coupled to the local oscillator of said receiver for tuning said receiver, comparator means coupled to said variable oscillator and said receiver for comparing the frequency of said oscillator with received signals to derive a control Voltage, apparatus coupled to said comparator means and said rst reactance modulator and responsive to said control signal to adjust the frequency of said oscillator to cause the frequency of transmitted wave energy in said medium to be constant, a speed indicator connected to said apparatus, a sweep generator, a switch, and means associated with said switch and responsive to the output of said receiver for actuating said switch upon loss of received signals to couple said sweep generator to said first and second reactance modulators.

3. A velocity determining system for use on a vehicle, comprising a transducer for transmitting Wave energy into a liquid through which the Vehicle moves, a driver oscillator coupled to said transducer, a rst reactance modulator coupled to said driver oscillator for controlling the frequency thereof, means for receiving reections of transmitted wave energy, a superheterodyne receiver coupled to said receiving means, a second reactance modulator coupled to the local oscillator of said receiver for tuning said receiver,'a mixer coupled to said driver oscillator and said receiver for deriving a control signal, a low-pass lter connected to the output of said mixer for passing said control signal, apparatus coupled to said lter and said first reactance modulator and responsive to said control signal to adjust the frequency of said driver oscillator to cause the frequency of transmitted wave energy in said medium to be constant, a speed indicator connected to said apparatus, a sweep generator, a switch actuated upon loss of received signals for coupling Vsaid sweep generator to said first and second reactance modulators, a discriminator coupled to the output of said receiver for producing a signal upon receipt of received signals, and means connectingsaid discriminator to said sweep generator'to cause the output of said discriminator to oppose the output of said sweep generator.

4. An acoustic log ,systemvr for'use aboard ship comprisrt `and Second reactanbmodulamrsiwbxeby Saiieon troly Voltage V,impressed onusaid., modulators, a sweep generator, me'aslcupledt'o lufutfaid mixer for causing sai-d switch to couple said sweep generatorft UNITED STATES PATENT OFFICE CERTIFICATE OF CORRECTION Octoberl 13 1959 Pat-em Nm. 2,908, 888

. Robert E. Kirkland rnted specification or appears in the-p d Letters It is hereby certified that err ng correction and that the sai of the above numbered patent requr Patent should read as corrected below.

column A, line 66, strike' out a11d" line 68, for ",o'enstemts for r'ecever read --f receiver, ma.

d and sealed this 19th day o" April 1960 Signe (SEAL) Attest: KARL H. .AXLINE ROBERT C. WATSON Commissioner of Patent Attesting Officer UNITED STATES PATENT OFFICE CERTIFICATE OF CORRECTION October 13, 1959 Patent No. 2,808,888

Robert E. Kirkland n theprinted specification or appears i n and that the said Letters It is hereby certified that err ng correctio of the above numbered patent requiri Patent should read as corrected below.

d T700 column A, line 66, strike' Column 3,v line 37, for "10'" rea out am'Pj line" 68, for ,canstamts" read for "r'eceiver. read ml receiver,

Signed and sealed this 19th day of' April 11.969V

(SEAL) Attest:

KARL H. .AXLINE ROBERT C. WATSON Commissioner of Paten Attesting Ofcer 

